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flaky fixes

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matlabbe
2026-06-06 11:42:03 -07:00
parent 1ec535473f
commit 0fe9718c28
4 changed files with 17 additions and 11 deletions
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corelib/test/test_rtabmap_integration.cpp
+5 -3
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@@ -2008,12 +2008,14 @@ TEST_F(RtabmapIntegrationFixture, AppearanceOnly_PrecisionRecall)
<< ", FP=" << acceptedFp << ")\n";
}
const bool isGfttBased =
const bool isCornerBased =
detectorType == Feature2D::kFeatureGfttFreak ||
detectorType == Feature2D::kFeatureGfttBrief ||
detectorType == Feature2D::kFeatureGfttOrb ||
detectorType == Feature2D::kFeatureGfttDaisy;
const float recallFloor = isGfttBased ? 0.5f : 0.9f;
detectorType == Feature2D::kFeatureGfttDaisy ||
detectorType == Feature2D::kFeatureFastFreak ||
detectorType == Feature2D::kFeatureFastBrief;
const float recallFloor = isCornerBased ? 0.5f : 0.9f;
EXPECT_GE(recallAt100p, recallFloor)
<< detectorLabel << " recall@100%P=" << recallAt100p
<< " is below " << recallFloor